#ifndef _My_Imu660RA_h
#define _My_Imu660RA_h

#include "zf_common_headfile.h"

#define   GYRO_SENS             1/16.4
#define   ACCE_SENS             90.0/4096
#define   DT                    0.01
extern volatile float FJ_Angle;//最后引出的变量
extern volatile float FJ_Pitch;//最后引出的变量
extern float yaw;
extern float pitch;
extern float roll;
void Zero_Point_Detect(void);
void Gyroscope_GetData(void);
void Get_Gyroscope_Angle(void);
void Get_Gyroscope_Pitch(void);
void Clear_Gyroscope_Pitch(void);
void Clear_Gyroscope_Angle(void);
void IMU_Update(float gx, float gy, float gz, float ax, float ay, float az);
#endif